Feedback linearization and decoupling: two-input two-output example (hand-made, no Matlab)

Antonio Sala, UPV

Difficulty: **** ,       Relevance: ,      Duration: 14:36

*Enlace a Spanish version

Summary:

This video discusses a simple academic exercise to calculate the decoupling and feedback linearization equations of a 2nd order system, with 2 inputs and 2 outputs, relative degree 1 in both of them (inputs appear with first derivatives of outputs). The system also has no singularities or “zero dynamics” to analyze.

Please review the video [derivsmlEN] if you have forgotten the manipulations with partial derivatives and the multivariable chain rule.

*Link to my [ whole collection] of videos in English. Link to larger [ Colección completa] in Spanish.